A laser radar turntable and its measuring device and measuring method

Abstract

The invention discloses a laser radar turntable and its measurement device and measurement method. The invention adopts a two-stage measurement method. In the first stage, the rotating platform is controlled to rotate at a uniform speed, and the first dense point cloud that cannot be overlapped with the measured object is obtained by measurement. ; In the second stage, the rotating platform is preset to rotate to a certain angle. When the encoder feedback has reached the angle, the scanning point of the lidar body is collected. After the acquisition of the angle is completed, the rotating platform is controlled to rotate to the next angle, and repeat The acquisition process of several angles is completed multiple times, and the first sparse point cloud that coincides with the measured object is obtained by measurement; finally, the first dense point cloud and the first sparse point cloud are fused to obtain the second dense point cloud without time error. The invention can solve the problem of low measurement efficiency of the existing laser radar turntable for the external environment. In the first stage, the turntable is kept at a fast and uniform speed for measurement, and in the second stage, multiple key angle static measurements are performed, and finally registration is performed to improve measurement efficiency.

Description

technical field [0001] The invention relates to a laser radar measuring device and technology, in particular to a laser radar turntable and its measuring device and measuring method. Background technique [0002] Laser measurement technology is a surveying and mapping technology that has been rapidly developed and applied in recent years. A typical product of this technology (lidar) is widely used in industrial fields such as aerial mapping and autonomous driving. Compared with traditional surveying and mapping technology, lidar has the characteristics of large amount of data, convenient use and high production efficiency; compared with image photogrammetry technology, it has the characteristics of high resolution and high precision, so it has strong irreplaceability. [0003] Restricted by the production and adjustment process of lidar equipment (mainly relying on manual completion), high-line-count lidar is expensive and expensive, which limits its application to a certai...

AI Technical Summary

Problems solved by technology

[0006] The disadvantage of the first method in the above-mentioned prior art is that the cost is high, and the laser radar that can realize hardware timing generally has a high-precision embedded processor, generally an FPGA, which increases the overall cost of the equipment

[0007] The disadvantage of the second method in the above-mentioned prior art is low efficiency. From the above description of the second prior art, it can be seen that the turntable is in the state of "stationary-rotation" during the measurement process, and the lidar turntable has a negative impact on the environment. The effective measurement of all takes place in the static stage, and the continuous acceleration and deceleration limits the time ratio for effective measurement. Therefore, in order to complete the three-dimensional measurement of the same density, this method needs to consume dozens of times more time than the first method above. Not good for quick measurements

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